Automated robotic assembly system

Abstract

An automated robotic assembly system is configured to assemble a device by fitting a first component made of a material liable to deformation by external force with a second component by means of a robot, and the first component is provided with a distortion detection unit for detecting distortion thereof. If the distortion detected by the distortion detection unit exceeds a predetermined value, a signal for notifying abnormality is output to stop an automated assembly operation by the robot.

The invention claimed is: 
     
       1. An automated robotic assembly system configured to assemble a device by fitting a component made of a material liable to deformation by external force with another component by means of a robot, the automated robotic assembly system comprising:
 a robot controller configured to control the robot; 
 a distortion detection unit provided on the component made of the material liable to deformation and configured to detect distortion thereof; and 
 a distortion determining unit configured to receive a distortion signal detected by the distortion detection unit and output an abnormal signal when a size of the distortion signal exceeds a predetermined threshold, 
 wherein the robot controller is configured to stop an automated assembly operation by the robot when the abnormal signal is output by the distortion determining unit. 
 
     
     
       2. The automated robotic assembly system according to  claim 1 , wherein the distortion detection unit is disposed in each of a plurality of positions on the component made of the material liable to deformation. 
     
     
       3. The automated robotic assembly system according to  claim 1 , wherein
 the robot controller comprises an adjusting unit configured to adjust a robot motion for connecting components with each other in the automated assembly operation, 
 after the abnormal signal is output by the distortion determining unit and the automated assembly operation is stopped, the robot controller is configured to adjust the robot motion by the adjusting unit and carry out the automated assembly operation, and 
 when the robot motion for connecting components is completed without the abnormal signal output from the distortion determining unit, the robot controller is configured to continue control of a subsequent automated assembly operation. 
 
     
     
       4. The automated robotic assembly system according to  claim 3 , wherein
 the adjusting unit of the robot controller is configured to previously store adjustment programs for the robot motion for connecting components, wherein a position or an attitude of a robot hand of the robot is varied among the stored adjustment programs, and 
 the robot controller is configured to sequentially execute the stored adjustment programs when the abnormal signal is output by the distortion determining unit. 
 
     
     
       5. The automated robotic assembly system according to  claim 4 , wherein the adjustment programs also include a robot motion program for connecting components with each other by replacing a component to be attached to the component made of the material liable to deformation with another component. 
     
     
       6. The automated robotic assembly system according to  claim 1 , wherein the component made of the material liable to deformation is a printed circuit board. 
     
     
       7. The automated robotic assembly system according to  claim 6 , wherein a robot motion for connecting components with each other in the automated assembly operation is a motion to insert another component into a connector provided on the printed circuit board.